0x2C11 - QueryCostMap2D
Description
This message is used to query for cost map data. An optional maximum map size may be specified to limit the amount of data returned. If no values are specified, the service may still return a subset of the cost map stored internally, with emphasis on the immediate vicinity of the platform. An optional map center and orientation may be specified. If the map center lies outside the bounds of the known cost map, the data returned should reflect the unknown (zero confidence) elements. If the map center is specified in an unsupported coordinate frame, or the map center is not specified, the returned map should be centered the current vehicle location. Note that the implementation should seek to satisfy these requests, but it is not strictly required to do so.
QueryCostMap2DSeq
Type: Sequence
QueryCostMap2DResolutionRec
Type: Record
| Field # |
Field Name |
Type |
Units |
Optional |
Interpretation |
| 1 |
MaxNumberOfRows |
uint16 |
one |
false |
Maximum number of rows in the returned data. |
| 2 |
MaxNumberOfColumns |
uint16 |
one |
false |
Maximum number of columns in the returned data. |
QueryCostMap2DSizeRec
Type: Record
| Field # |
Field Name |
Type |
Units |
Optional |
Interpretation |
| 1 |
MaxWidth |
uint32 |
meter |
false |
|
| 2 |
MaxHeight |
uint32 |
meter |
false |
|
QueryCostMap2DCenterVar
Type: Variant
CostMap2DGlobalPoseRec
Type: Record
| Field # |
Field Name |
Type |
Units |
Optional |
Interpretation |
| 1 |
MapCenterLatitude |
uint32 |
degree |
false |
|
| 2 |
MapCenterLongitude |
uint32 |
degree |
false |
|
| 3 |
MapRotation |
uint16 |
radian |
false |
Rotation about the global Z axis. |
CostMap2DLocalPoseRec
Type: Record
| Field # |
Field Name |
Type |
Units |
Optional |
Interpretation |
| 1 |
MapCenterX |
uint32 |
meter |
false |
|
| 2 |
MapCenterY |
uint32 |
meter |
false |
|
| 3 |
MapRotation |
uint16 |
radian |
false |
Rotation about the local Z axis. |
QueryCostMap2DSeq